diff --git a/freecad_to_gazebo/model.py b/GazeboExport.py
similarity index 66%
rename from freecad_to_gazebo/model.py
rename to GazeboExport.py
index c7072a3..a1f16f7 100644
--- a/freecad_to_gazebo/model.py
+++ b/GazeboExport.py
@@ -1,9 +1,195 @@
-from freecad_to_gazebo.conversions import *
-import FreeCAD
+import FreeCAD, Mesh, os, numpy as np
+import yaml
+import argparse
+import collada
from xml.etree import ElementTree as ET
from xml.dom.minidom import parseString
+from math import radians as _radians
+def export_gazebo_model(model_dir, configs={}):
+ doc = FreeCAD.activeDocument()
+ assembly_dir = os.path.split(doc.FileName)[0]
+ scale = configs.get('scale', 0.001)
+ scale_vec = FreeCAD.Vector([scale]*3)
+
+ for obj in doc.Objects:
+ if obj.isDerivedFrom("Part::Feature"):
+ name = obj.Label
+ density = configs.get('density', 1000)
+
+ bounding_box = obj.Shape.BoundBox
+ bounding_box.scale(*scale_vec)
+
+ global_pose_base = FreeCAD.Vector(bounding_box.XLength/2,
+ bounding_box.YLength/2,
+ bounding_box.ZLength/2)
+ global_pose_base -= bounding_box.Center
+ global_pose = FreeCAD.Placement()
+ global_pose.Base = global_pose_base
+
+ model = Model(name=name, pose=global_pose)
+ model.self_collide = False
+ model.sdf_version = '1.5'
+
+ shape = obj.Shape
+ mass = shape.Mass * scale**3 * density
+ com = shape.CenterOfMass * scale
+ inr = shape.MatrixOfInertia
+ inr.scale(*scale_vec*(scale**4) * density)
+ placement = shape.Placement
+ placement.Base.scale(*scale_vec)
+
+ mesh_file = os.path.join(model_dir, name, 'meshes')
+ mesh_file = os.path.splitext(mesh_file)[0] + name + '.dae'
+ mesh_dir = os.path.split(mesh_file)[0]
+
+ os.makedirs(mesh_dir, exist_ok=True)
+ export_collada(doc, [obj], mesh_file, scale=scale, offset=com*-1)
+
+ pose = placement.copy()
+ pose.Base = com
+
+ pose_rpy = pose.copy()
+ pose_rpy.Base=(np.zeros(3))
+
+
+ inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]])
+ inertial = Inertial(pose=pose_rpy,
+ mass=mass,
+ inertia=inertia)
+
+ package = configs.get('ros_package', name)
+ mesh_uri = os.path.join(package,
+ os.path.relpath(mesh_file, model_dir))
+ mesh_uri = os.path.normpath(mesh_uri)
+
+ visual = Visual(name=name+'_visual', mesh=mesh_uri)
+ collision = Collision(name=name+'_collision', mesh=mesh_uri)
+
+ link = Link(name=name,
+ pose=pose,
+ inertial=inertial,
+ visual=visual,
+ collision=collision)
+ model.links.append(link)
+
+ with open(os.path.join(model_dir, name+'.sdf'), 'w') as sdf_file:
+ sdf_file.write(model.to_xml_string('sdf'))
+
+
+###################################################################
+# Export helpers
+###################################################################
+
+
+
+def export_collada(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)):
+ '''FreeCAD collada exporter
+ doc - FreeCAD document
+ exportList - list of objects from doc
+ scale - scaling factor for the mesh
+ quality - mesh tessellation quality
+ offset - offset of the origin of the resulting mesh'''
+
+ colmesh = collada.Collada()
+ colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP
+ objind = 0
+ scenenodes = []
+
+ for obj in exportList:
+ bHandled = False
+ if obj.isDerivedFrom("Part::Feature"):
+ bHandled = True
+ m = obj.Shape.tessellate(quality)
+ vindex = []
+ nindex = []
+ findex = []
+ # vertex indices
+ for v in m[0]:
+ vindex.extend([a*scale+b for a, b in zip(v, offset)])
+ # normals
+ for f in obj.Shape.Faces:
+ n = f.normalAt(0,0)
+ for i in range(len(f.tessellate(quality)[1])):
+ nindex.extend([n.x,n.y,n.z])
+ # face indices
+ for i in range(len(m[1])):
+ f = m[1][i]
+ findex.extend([f[0],i,f[1],i,f[2],i])
+ elif obj.isDerivedFrom("Mesh::Feature"):
+ bHandled = True
+ print("exporting mesh ",obj.Name, obj.Mesh)
+ m = obj.Mesh
+ vindex = []
+ nindex = []
+ findex = []
+ # vertex indices
+ for v in m.Topology[0]:
+ vindex.extend([a*scale+b for a, b in zip(v, offset)])
+ # normals
+ for f in m.Facets:
+ n = f.Normal
+ nindex.extend([n.x,n.y,n.z])
+ # face indices
+ for i in range(len(m.Topology[1])):
+ f = m.Topology[1][i]
+ findex.extend([f[0],i,f[1],i,f[2],i])
+
+ if bHandled:
+ vert_src = collada.source.FloatSource("cubeverts-array"+str(objind),
+ np.array(vindex),
+ ('X', 'Y', 'Z'))
+ normal_src = collada.source.FloatSource("cubenormals-array"+str(objind),
+ np.array(nindex),
+ ('X', 'Y', 'Z'))
+ geom = collada.geometry.Geometry(colmesh,
+ "geometry"+str(objind),
+ obj.Label,
+ [vert_src, normal_src])
+
+ input_list = collada.source.InputList()
+ input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind))
+ input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind))
+ triset = geom.createTriangleSet(np.array(findex),
+ input_list,
+ "materialref")
+ geom.primitives.append(triset)
+ colmesh.geometries.append(geom)
+
+ geomnode = collada.scene.GeometryNode(geom)
+ node = collada.scene.Node("node"+str(objind), children=[geomnode])
+
+ #TODO: Add materials handling
+ scenenodes.append(node)
+
+ objind += 1
+
+ scene = collada.scene.Scene("scene", scenenodes)
+ colmesh.scenes.append(scene)
+ colmesh.scene = scene
+
+ colmesh.write(filename)
+ print("file %s successfully created\n" % filename)
+
+
+###################################################################
+# Conversion Helpers
+###################################################################
+
+def deg2rad(d):
+ '''Converts degrees to radians'''
+ return _radians(d)
+
+def flt2str(f):
+ '''Converts floats to formatted string'''
+ return '{:.6f}'.format(f)
+
+
+###################################################################
+# Model Helpers
+###################################################################
+
def add_poses(p1, p2):
return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix())
diff --git a/README.md b/README.md
index c2a8c49..fcc89f1 100644
--- a/README.md
+++ b/README.md
@@ -28,5 +28,42 @@ This workbench supports versions of FreeCAD>0.16.
7. Save json
8. Use the json with whatever you want. E.g. [`arbench_part_publisher`](https://github.com/mahaarbo/arbench_part_publisher)
-# Todo
- -[] Add export all parts to meshes
+
+# Freecad to Gazebo exporter
+
+To generate SDF and URDF model from freecad assembly use python call:
+
+```python
+freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
+```
+Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
+
+## Config specification
+```json
+{
+ "name": "robot_name",
+ "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
+ "transmission": {
+ "type": "transmission_interface/SimpleTransmission",
+ "hardware_interface": "hardware_interface/PositionJointInterface"
+ },
+ "joints_config": {
+ "type": "position_controllers/JointGroupPositionController",
+ "grouped": true
+ },
+ "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
+ "root_link": "base_link",
+ "ros_package": "humanoid_17dof_description",
+ "sdf_only": false,
+ "export": true
+}
+```
+
+**sdf_only**: Export only SDF.
+
+**export**: Export mesh files.
+
+## Future plans
+* Extend collada exporter to export materials from assemblies.
+* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
+* Support any valid structures of assemblies.
diff --git a/freecad_to_gazebo/LICENSE b/freecad_to_gazebo/LICENSE
deleted file mode 100644
index f288702..0000000
--- a/freecad_to_gazebo/LICENSE
+++ /dev/null
@@ -1,674 +0,0 @@
- GNU GENERAL PUBLIC LICENSE
- Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc.
- Everyone is permitted to copy and distribute verbatim copies
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diff --git a/freecad_to_gazebo/README.md b/freecad_to_gazebo/README.md
deleted file mode 100644
index b1c4f14..0000000
--- a/freecad_to_gazebo/README.md
+++ /dev/null
@@ -1,58 +0,0 @@
-# Freecad to Gazebo exporter
-
-## Introduction
-Freecad to gazebo exporter is a tool for exporting freecad assembly project to gazebo/ros model.
-
-## Design Rules
-This project is in its early stage therefore specific design rules must be followed to work with it.
-* The assmbly file must be created with `A2Plus` (freecad's prefered assembly workspace).
-* Parts of the assembly must be in separate files.
-* Imovable parts of the main assembly must be made in separate subasssemblies.
-* Joints should be represented by AxisConsident constraints with lock rotation turned off.
-* For URDF files to work properly, tree structure must be maintained (ie. parent and childs of constraints must follow tree structure).
-
-## Requirements
-* [Freecad][freecad] with [A2Plus][a2plus] workspace installed
-
-## Usage
-
-#### To generate SDF and URDF model from freecad assembly use python call:
-```python
-freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
-```
-Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
-
-## Config specification
-```json
-{
- "name": "robot_name",
- "joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
- "transmission": {
- "type": "transmission_interface/SimpleTransmission",
- "hardware_interface": "hardware_interface/PositionJointInterface"
- },
- "joints_config": {
- "type": "position_controllers/JointGroupPositionController",
- "grouped": true
- },
- "joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
- "root_link": "base_link",
- "ros_package": "humanoid_17dof_description",
- "sdf_only": false,
- "export": true
-}
-```
-
-**sdf_only**: Export only SDF.
-
-**export**: Export mesh files.
-
-
-## Future plans
-* Extend collada exporter to export materials from assemblies.
-* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
-* Reduce set of design rules by making it more robust and general purpose.
-* Support any valid structures of assemblies.
-
-[freecad]:https://freecadweb.org
-[a2plus]:https://github.com/kbwbe/A2plus
diff --git a/freecad_to_gazebo/__init__.py b/freecad_to_gazebo/__init__.py
deleted file mode 100644
index 4cf8a65..0000000
--- a/freecad_to_gazebo/__init__.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import os, platform
-import distro
-
-FREECAD_PATH = ''
-
-# check os types to search for freecad libraries
-if 'linux' in platform.system().lower():
- dist = distro.linux_distribution(full_distribution_name=False)[0].lower()
- # TODO: check freecad libs on different distros
- if dist in ['ubuntu', 'debian', 'fedora', 'arch']:
- FREECAD_PATH = '/usr/lib/freecad'
- else:
- # fallback to default path
- FREECAD_PATH = '/usr/lib/freecad'
- print(dist, FREECAD_PATH)
-elif 'nt' in platform.dist().lower():
- pass
- # TODO: Find freecad libs on windows
-else:
- raise Exception("Platform not supported")
-
-# Extend sys.path to include freecad python libraries (including workbenches)
-os.sys.path.extend(os.path.join(FREECAD_PATH, d) for d in os.listdir(FREECAD_PATH))
-
-from freecad_to_gazebo.mesh_exporter import export
-from freecad_to_gazebo.model import *
-from freecad_to_gazebo.freecad_exporter import *
-
diff --git a/freecad_to_gazebo/conversions.py b/freecad_to_gazebo/conversions.py
deleted file mode 100644
index 60f151c..0000000
--- a/freecad_to_gazebo/conversions.py
+++ /dev/null
@@ -1,11 +0,0 @@
-from math import radians as _radians
-
-
-def deg2rad(d):
- '''Converts degrees to radians'''
- return _radians(d)
-
-def flt2str(f):
- '''Converts floats to formatted string'''
- return '{:.6f}'.format(f)
-
diff --git a/freecad_to_gazebo/freecad_exporter.py b/freecad_to_gazebo/freecad_exporter.py
deleted file mode 100644
index 74e2ab6..0000000
--- a/freecad_to_gazebo/freecad_exporter.py
+++ /dev/null
@@ -1,200 +0,0 @@
-import FreeCAD
-from xml.etree import ElementTree as ET
-from xml.dom.minidom import parseString
-import yaml
-from freecad_to_gazebo.model import *
-from freecad_to_gazebo.mesh_exporter import *
-import a2plib
-import argparse
-
-
-def export_gazebo_model(assembly_file, model_dir, configs={}):
- doc = FreeCAD.open(assembly_file)
-
- robot_name = configs.get('name', doc.Label)
- scale = configs.get('scale', 0.001)
- scale_vec = FreeCAD.Vector([scale]*3)
- density = configs.get('density', 1000)
-
- export_mesh = configs.get('export', True)
-
- assembly_dir = os.path.split(doc.FileName)[0]
-
- bounding_box = FreeCAD.BoundBox()
- for obj in doc.findObjects('Part::Feature'):
- bounding_box.add(obj.Shape.BoundBox)
-
- bounding_box.scale(*scale_vec)
-
- global_pose_base = FreeCAD.Vector(bounding_box.XLength/2,
- bounding_box.YLength/2,
- bounding_box.ZLength/2)
- global_pose_base -= bounding_box.Center
- global_pose = FreeCAD.Placement()
- global_pose.Base = global_pose_base
-
- model = Model(name=robot_name, pose=global_pose)
- model.self_collide = configs.get('self_collide', False)
- model.sdf_version = '1.5'
-
- joint_limits = configs.get('joints_limits', {})
- joint_dynamics = configs.get('joints_dynamics', {})
-
- constraints = []
- for obj in doc.Objects:
- if a2plib.isA2pPart(obj):
- name = obj.Label
- shape = obj.Shape
- mass = shape.Mass * scale**3 * density
- com = shape.CenterOfMass * scale
- inr = shape.MatrixOfInertia
- inr.scale(*scale_vec*(scale**4) * density)
- placement = shape.Placement
- placement.Base.scale(*scale_vec)
-
- part_file = os.path.join(assembly_dir, obj.sourceFile)
- part_file = os.path.normpath(part_file)
- mesh_file = os.path.join(model_dir,
- 'meshes',
- os.path.relpath(part_file, assembly_dir))
- mesh_file = os.path.splitext(mesh_file)[0] + '.dae'
- mesh_dir = os.path.split(mesh_file)[0]
-
- if export_mesh:
- os.makedirs(mesh_dir, exist_ok=True)
- export(doc, [obj], mesh_file, scale=scale, offset=com*-1)
-
- pose = placement.copy()
- pose.Base = com
-
- pose_rpy = pose.copy()
- pose_rpy.Base=(np.zeros(3))
-
-
- inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]])
- inertial = Inertial(pose=pose_rpy,
- mass=mass,
- inertia=inertia)
-
- package = configs.get('ros_package', robot_name)
- mesh_uri = os.path.join(package,
- os.path.relpath(mesh_file, model_dir))
- mesh_uri = os.path.normpath(mesh_uri)
-
- visual = Visual(name=name+'_visual',
- mesh=mesh_uri)
- collision = Collision(name=name+'_collision',
- mesh=mesh_uri)
-
- link = Link(name=name,
- pose=pose,
- inertial=inertial,
- visual=visual,
- collision=collision)
- model.links.append(link)
-
- elif a2plib.isA2pConstraint(obj):
- parent = doc.getObject(obj.Object1)
- child = doc.getObject(obj.Object2)
-
- if sorted([parent.Label, child.Label]) in constraints:
- continue
-
- if obj.Type == 'axial' and not obj.lockRotation:
- pose = a2plib.getPos(parent, obj.SubElement1)
- pose = pose - child.Shape.CenterOfMass
- pose.scale(*scale_vec)
-
- joint_pose = FreeCAD.Placement()
- joint_pose.Base = pose
- axis_pose = a2plib.getAxis(parent, obj.SubElement1)
-
- axis = Axis(pose=axis_pose,
- lower_limit=joint_limits.get('lower', -90),
- upper_limit=joint_limits.get('upper', 90),
- effort_limit=joint_limits.get('effort', 10),
- velocity_limit=joint_limits.get('velocity', 10),
- friction=joint_dynamics.get('friction', 0),
- damping=joint_dynamics.get('damping', 0))
-
- joint = Joint(name=parent.Label+'_'+child.Label,
- pose=joint_pose,
- parent=parent.Label,
- child=child.Label,
- type='revolute',
- axis=axis)
-
- model.joints.append(joint)
-
- constraints.append(sorted([parent.Label, child.Label]))
-
- os.makedirs(os.path.join(model_dir, 'models'), exist_ok=True)
-
- with open(os.path.join(model_dir, 'models', robot_name+'.sdf'), 'w') as sdf_file:
- sdf_file.write(model.to_xml_string('sdf'))
-
- if not configs.get('sdf_only', None):
- with open(os.path.join(model_dir, 'models', robot_name+'.urdf'), 'w') as urdf_file:
- urdf_file.write(model.to_xml_string('urdf'))
-
- actuators = ET.Element('robot', name=robot_name)
- gazebo = ET.SubElement(actuators, 'gazebo')
- plugin = ET.SubElement(gazebo, 'plugin')
- plugin.set('filename', 'libgazebo_ros_control.so')
- plugin.set('name', 'gazebo_ros_control')
- namespace = ET.SubElement(plugin, 'robotNamespace')
- namespace.text = '/'+robot_name
- simtype = ET.SubElement(plugin, 'robotSimType')
- simtype.text = 'gazebo_ros_control/DefaultRobotHWSim'
-
- tr_configs = configs.get('transmission', {})
- jt_configs = configs.get('joints_config')
- pid = configs.get('joints_pid')
-
- joint_names = [joint.name for joint in model.joints]
-
- for joint in joint_names:
- transmission = ET.SubElement(actuators, 'transmission', name=joint)
- tr_type = ET.SubElement(transmission, 'type')
- tr_type.text = tr_configs.get('type', 'transmission_interface/SimpleTransmission')
- actuator = ET.SubElement(transmission, 'actuator', name=joint)
- hw_interface = ET.SubElement(actuator, 'hardwareInterface')
- hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
- reduction = ET.SubElement(actuator, 'mechanicalReduction')
- reduction.text = '1'
-
- tr_joint = ET.SubElement(transmission, 'joint', name=joint)
- hw_interface = ET.SubElement(tr_joint, 'hardwareInterface')
- hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
-
- with open(os.path.join(model_dir, 'models', robot_name+'_actuators.urdf'), 'w') as actuators_file:
- actuators_file.write(parseString(ET.tostring(actuators)).toprettyxml(indent=' '*2))
-
- control_configs={}
- control_configs[robot_name] = {
- 'joint_state_controller':{
- 'type': 'joint_state_controller/JointStateController',
- 'publish_rate': 50,
- }
- }
-
- if jt_configs.get('groupped', False):
- for joint in joint_names:
- control_configs[robot_name][joint+'_controller'] = {
- 'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'),
- 'joint': joint,
- 'pid': pid.copy()
- }
- else:
- control_configs[robot_name]['joints_controller'] = {
- 'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'),
- 'publish_rate': 50,
- 'joints': joint_names
- }
- control_configs[robot_name]['gazebo_ros_control/pid_gains'] = {}
- for joint in joint_names:
- control_configs[robot_name]['gazebo_ros_control/pid_gains'][joint] = pid.copy()
- os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True)
- with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file:
- yaml.dump_all([control_configs], control_configs_file, sort_keys=False)
-
diff --git a/freecad_to_gazebo/mesh_exporter.py b/freecad_to_gazebo/mesh_exporter.py
deleted file mode 100644
index 4bb6990..0000000
--- a/freecad_to_gazebo/mesh_exporter.py
+++ /dev/null
@@ -1,90 +0,0 @@
-import FreeCAD, Mesh, os, numpy as np
-import collada
-
-
-def export(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)):
- '''FreeCAD collada exporter
- scale - scaling factor for the mesh
- quality - mesh tessellation quality
- offset - offset of the origin of the resulting mesh'''
-
- colmesh = collada.Collada()
- colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP
- objind = 0
- scenenodes = []
-
- for obj in exportList:
- bHandled = False
- if obj.isDerivedFrom("Part::Feature"):
- bHandled = True
- m = obj.Shape.tessellate(quality)
- vindex = []
- nindex = []
- findex = []
- # vertex indices
- for v in m[0]:
- vindex.extend([a*scale+b for a, b in zip(v, offset)])
- # normals
- for f in obj.Shape.Faces:
- n = f.normalAt(0,0)
- for i in range(len(f.tessellate(quality)[1])):
- nindex.extend([n.x,n.y,n.z])
- # face indices
- for i in range(len(m[1])):
- f = m[1][i]
- findex.extend([f[0],i,f[1],i,f[2],i])
- elif obj.isDerivedFrom("Mesh::Feature"):
- bHandled = True
- print("exporting mesh ",obj.Name, obj.Mesh)
- m = obj.Mesh
- vindex = []
- nindex = []
- findex = []
- # vertex indices
- for v in m.Topology[0]:
- vindex.extend([a*scale+b for a, b in zip(v, offset)])
- # normals
- for f in m.Facets:
- n = f.Normal
- nindex.extend([n.x,n.y,n.z])
- # face indices
- for i in range(len(m.Topology[1])):
- f = m.Topology[1][i]
- findex.extend([f[0],i,f[1],i,f[2],i])
-
- if bHandled:
- vert_src = collada.source.FloatSource("cubeverts-array"+str(objind),
- np.array(vindex),
- ('X', 'Y', 'Z'))
- normal_src = collada.source.FloatSource("cubenormals-array"+str(objind),
- np.array(nindex),
- ('X', 'Y', 'Z'))
- geom = collada.geometry.Geometry(colmesh,
- "geometry"+str(objind),
- obj.Label,
- [vert_src, normal_src])
-
- input_list = collada.source.InputList()
- input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind))
- input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind))
- triset = geom.createTriangleSet(np.array(findex),
- input_list,
- "materialref")
- geom.primitives.append(triset)
- colmesh.geometries.append(geom)
-
- geomnode = collada.scene.GeometryNode(geom)
- node = collada.scene.Node("node"+str(objind), children=[geomnode])
-
- #TODO: Add materials handling
- scenenodes.append(node)
-
- objind += 1
-
- scene = collada.scene.Scene("scene", scenenodes)
- colmesh.scenes.append(scene)
- colmesh.scene = scene
-
- colmesh.write(filename)
- print("file %s successfully created\n" % filename)
-